FHWS/Indoor
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pushing before transfering ownership

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added new tests and new helper classes
speed improvements
minor fixes
This commit is contained in:
FrankE
2016-01-25 17:54:58 +01:00
parent 5aedce47f1
commit b503fb9bdc
6 changed files with 156 additions and 27 deletions
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6
grid/Grid.h
View File

@@ -158,6 +158,12 @@ public:
return nodes[hashes[uid]];
}
/** get the center-node the given Point belongs to. or nullptr if not present */
const T* getNodePtrFor(const GridPoint& p) {
auto it = hashes.find(getUID(p));
return (it == hashes.end()) ? (nullptr) : (&nodes[it->second]);
}
/** get the BBox for the given node */
GridNodeBBox getBBox(const int idx) const {
return getBBox(nodes[idx]);

36
grid/factory/GridFactory.h
View File

@@ -2,6 +2,8 @@
#define GRIDFACTORY_H
#include <string>
#include <unordered_set>
#include "../../floorplan/Floor.h"
#include "../../floorplan/Stairs.h"
@@ -30,9 +32,10 @@ public:
/** add the given floor at the provided height (in cm) */
void addFloor(const Floor& floor, const float z_cm) {
Log::add(name, "adding floor at height " + std::to_string(z_cm));
Log::add(name, "adding floor at height " + std::to_string(z_cm), false);
Log::tick();
const float gridSize_cm = grid.getGridSize_cm();
const int gridSize_cm = grid.getGridSize_cm();
// build grid-points
for(int x_cm = 0; x_cm < floor.getWidth_cm(); x_cm += gridSize_cm) {
@@ -48,6 +51,8 @@ public:
}
}
Log::tock();
connectAdjacent(z_cm);
}
@@ -55,15 +60,16 @@ public:
/** connect all neighboring nodes located on the given height-plane */
void connectAdjacent(const float z_cm) {
Log::add(name, "connecting all adjacent nodes at height " + std::to_string(z_cm));
Log::add(name, "connecting all adjacent nodes at height " + std::to_string(z_cm), false);
Log::tick();
const int gridSize_cm = grid.getGridSize_cm();
// connect adjacent grid-points
for (int idx = 0; idx < grid.getNumNodes(); ++idx) {
for (T& n1 : grid) {
T& n1 = (T&) grid[idx];
if (n1.z_cm != z_cm) {continue;} // ugly... different floor -> skip
// not the floor we are looking for? -> skip (ugly.. slow(er))
if (n1.z_cm != z_cm) {continue;}
// square around each point
for (int x = -gridSize_cm; x <= gridSize_cm; x += gridSize_cm) {
@@ -73,14 +79,14 @@ public:
if ((x == y) && (x == 0)) {continue;}
// position of the potential neighbor
int ox = n1.x_cm + x;
int oy = n1.y_cm + y;
GridPoint p(ox, oy, n1.z_cm);
const int ox = n1.x_cm + x;
const int oy = n1.y_cm + y;
const GridPoint p(ox, oy, n1.z_cm);
// does the grid contain the potential neighbor?
if (grid.hasNodeFor(p)) {
T& n2 = (T&) grid.getNodeFor(p);
grid.connectUniDir(n1, n2);
const T* n2 = grid.getNodePtrFor(p);
if (n2 != nullptr) {
grid.connectUniDir(n1, *n2); // UNI-dir connection as EACH node is processed!
}
}
@@ -88,6 +94,8 @@ public:
}
Log::tock();
}
@@ -205,7 +213,7 @@ public:
Log::add(name, "searching for isolated nodes");
// get largest connected region
std::set<int> set;
std::unordered_set<int> set;
do {
const int idxStart = rand() % grid.getNumNodes();
set.clear();
@@ -229,7 +237,7 @@ public:
private:
/** recursively get all connected nodes and add them to the set */
void getConnected(const int idx, std::set<int>& set) {
void getConnected(const int idx, std::unordered_set<int>& set) {
// get the node behind idx
const T& n1 = (T&) grid[idx];